4-1型柔索驱动并联机器人稳定性度量及其灵敏度分析

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Abstract A 4-1 cable-driven parallel robot (CDPR) has excellent performance and good application potential, but it is crucial to evaluate and ensure the stability of the robot. Therefore, in this paper, the stability measure method of the robot is investigated, and furthermore, a stability measurement method with the position influencing factors and the cable tension influencing factors is proposed. The stability sensitivity analysis model for the robot is established, and the influence degree of the positions of the end-effector and cable tensions on the stability is explored and analyzed. The correlation degree is proposed to investigate and measure the influence degree of the factors on the stability for the robot. The presented stability evaluation model and sensitivity analysis model are simulated on a cable-driven gangue sorting robot, and the position set of the end-effector where the end-effector meets the predetermined stability requirements is obtained. The results show that the stability of the cable-driven gangue sorting robot is sensitive to the cable tensions, and in more detail, the correlation degrees of the cable tensions are 0.9387-0.9647; and while, the correlation degrees of the positons of the end-effector are 0.5439-0.7743.

Key words： cable-driven parallel robot point mass stability sensitivity

Received: 12 April 2022 Published: 28 July 2023

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	Articles by authors
	LIU Peng1
	2
	CAO Xiangang1
	ZHANG Xuhui1
	QIAO Xinzhou1

Cite this article:

LIU Peng1,2,CAO Xiangang1, et al. Stability and sensitivity of a 4-1 type cable-driven parallel robot[J]. JOURNAL OF VIBRATION AND SHOCK, 2023, 42(14): 180-188.

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http://jvs.sjtu.edu.cn/EN/ OR http://jvs.sjtu.edu.cn/EN/Y2023/V42/I14/180

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